机器人外文翻译3

外文资料robotThe industrial robot is a tool that is used in the manufacturing environment to increase productivity. It can be used to do routine and tedious assembly line jobs，or it can perform jobs that might be hazardous to the human worker . For example ，one of the first industrial robot was used to replace the nuclear fuel rods in nuclear power plants. A human doing this job might be exposed to harmful amounts of radiation. The industrial robot can also operate on the assembly line，putting together small components，such as placing electronic components on a printed circuit board. Thus，the human worker can be relieved of the routine operation of this tedious task. Robots can also be programmed to defuse bombs，to serve the handicapped，and to perform functions in numerous applications in our society.The robot can be thought of as a machine that will move an end-of-tool ，sensor ，and/or gripper to a preprogrammed location. When the robot arrives at this location，it will perform some sort of task .This task could be welding，sealing，machine loading ，machine unloading，or a host of assembly jobs. Generally，this work can be accomplished without the involvement of a human being，except for programming and for turning the system on and off.The basic terminology of robotic systems is introduced in the following:1. A robot is a reprogrammable ，multifunctional manipulator designed to move parts，material，tool，or special devices through variable programmed motions for the performance of a variety of different task. This basic definition leads to other definitions，presented in the following paragraphs，that give acomplete picture of a robotic system.2. Preprogrammed locations are paths that the robot must follow to accomplish work，At some of these locations，the robot will stop and perform some operation ，such as assembly of parts，spray painting ，or welding .These preprogrammed locations are stored in the robot’s memory and are recalled later for continuousoperation.Furthermore，these preprogrammed locations，as well as other program data，can be changed later as the work requirements change.Thus，with regard to this programming feature，an industrial robot is very much like a computer ，where data can be stoned and later recalled and edited.3. The manipulator is the arm of the robot .It allows the robot to bend，reach，and twist.This movement is provided by the manipulator’s axes，also called the degrees of freedom of the robot .A robot can have from 3 to 16 axes.The term degrees of freedom will always relate to the number of axes found on a robot.4. The tooling and frippers are not part the robotic system itself;rather，they are attachments that fit on the end of the robot’s arm. These attachments connected to the end of the robot’s arm allow the robot to lift parts，spot-weld ，paint，arc-weld，drill，deburr，and do a variety of tasks，depending on what is required of the robot.5. The robotic system can control the work cell of the operating robot.The work cell of the robot is the total environment in which the robot must perform itstask.Included within this cell may be the controller ，the robot manipulator ，a work table ，safety features，or a conveyor.All the equipment that is required in order for the robot to do its job is included in the work cell .In addition，signals from outside devices can communicate with the robot to tell the robot when it should parts，pick up parts，or unload parts to a conveyor.The robotic system has three basic components: the manipulator，the controller，and the power source.A.ManipulatorThe manipulator ，which does the physical work of the robotic system，consists of two sections:the mechanical section and the attached appendage.The manipulator also has a base to which the appendages are attached.Fig.1 illustrates the connectionof the base and the appendage of a robot.图1.Basic components of a robot’s manipulatorThe base of the manipulator is usually fixed to the floor of the work area. Sometimes，though，the base may be movable. In this case，the base is attached to either a rail or a track，allowing the manipulator to be moved from one location to anther.As mentioned previously ，the appendage extends from the base of the robot. The appendage is the arm of the robot. It can be either a straight ，movable arm or a jointed arm. The jointed arm is also known as an articulated arm.The appendages of the robot manipulator give the manipulator its various axes of motion. These axes are attached to a fixed base ，which，in turn，is secured to a mounting. This mounting ensures that the manipulator will in one location.At the end of the arm ，a wrist（see Fig 2）is connected. The wrist is made up of additional axes and a wrist flange. The wrist flange allows the robot user to connect different tooling to the wrist for different jobs.图2.Elements of a work cell from the topThe manipulator’s axes allow it to perform work within a certain area. The area is called the work cell of the robot ，and its size corresponds to the size of the manipulator.（Fid2）illustrates the work cell of a typical assembly ro bot.As the robot’s physical size increases，the size of the work cell must also increase.The movement of the manipulator is controlled by actuator，or drive systems.The actuator，or drive systems，allows the various axes to move within the work cell. The drive system can use electric，hydraulic，or pneumatic power.The energy developed by the drive system is converted to mechanical power by various mechanical power systems.The drive systems are coupled through mechanical linkages.These linkages，in turn，drive the different axes of the robot.The mechanical linkages may be composed of chain，gear，and ball screws.B.ControllerThe controller in the robotic system is the heart of the operation .The controller stores preprogrammed information for later recall，controls peripheral devices，and communicates with computers within the plant for constant updates in production.The controller is used to control the robot manipulator’s movements as well as to control peripheral components within the work cell. The user can program the movements of the manipulator into the controller through the use of a hard-held teach pendant.This information is stored in the memory of the controller for later recall.The controller stores all program data for the robotic system.It can store several differentprograms，and any of these programs can be edited.The controller is also required to communicate with peripheral equipment within the work cell. For example，the controller has an input line that identifies when a machining operation is completed.When the machine cycle is completed，the input line turn on telling the controller to position the manipulator so that it can pick up the finished part.Then ，a new part is picked up by the manipulator and placed into the machine.Next，the controller signals the machine to start operation.The controller can be made from mechanically operated drums that step through a sequence of events.This type of controller operates with a very simple robotic system.The controllers found on the majority of robotic systems are more complex devices and represent state-of-the-art eletronoics.That is，they are microprocessor-operated.these microprocessors are either 8-bit，16-bit，or 32-bit processors.this power allows the controller to be very flexible in its operation.The controller can send electric signals over communication lines that allow it to talk with the various axes of the manipulator. This two-way communication between the robot manipulator and the controller maintains a constant update of the end the operation of the system.The controller also controls any tooling placed on the end of the robot’s wrist.The controller also has the job of communicating with the different plant computers. The communication link establishes the robot as part a computer-assisted manufacturing （CAM）system.As the basic definition stated，the robot is a reprogrammable，multifunctional manipulator.Therefore，the controller must contain some of memory stage. The microprocessor-based systems operates in conjunction with solid-state devices.These memory devices may be magnetic bubbles，random-access memory，floppy disks，or magnetic tape.Each memory storage device stores program information fir or for editing.C.power supplyThe power supply is the unit that supplies power to the controller and the manipulator. The type of power are delivered to the robotic system. One type of power is the AC power for operation of the controller. The other type of power isused for driving the various axes of the manipulator. For example，if the robot manipulator is controlled by hydraulic or pneumatic drives，control signals are sent to these devices causing motion of the robot.For each robotic system，power is required to operate the manipulator .This power can be developed from either a hydraulic power source，a pneumatic power source，or an electric power source.There power sources are part of the total components of the robotic work cell.中文翻译机器人工业机器人是在生产环境中用以提高生产效率的工具，它能做常规乏味的装配线工作，或能做那些对于工人来说是危险的工作，例如，第一代工业机器人是用来在核电站中更换核燃料棒，如果人去做这项工作，将会遭受有害放射线的辐射。

外文翻译机器人The robot性质: □毕业设计□毕业论文教学院：机电工程学院系别：机械设计制造及其自动化学生学号：学生姓名：专业班级：指导教师：职称：起止日期：机器人1.机器人的作用机器人是高级整合控制论、机械电子、计算机、材料和仿生学的产物。

在工业、医学、农业、建筑业甚至军事等领域中均有重要用途。

现在，国际上对机器人的概念已经逐渐趋近一致。

一般说来，人们都可以接受这种说法，即机器人是靠自身动力和控制能力来实现各种功能的一种机器。

联合国标准化组织采纳了美国机器人协会给机器人下的定义：“一种可编程和多功能的，用来搬运材料、零件、工具的操作机；或是为了执行不同的任务而具有可改变和可编程动作的专门系统。

2.能力评价标准机器人能力的评价标准包括：智能，指感觉和感知，包括记忆、运算、比较、鉴别、判断、决策、学习和逻辑推理等；机能，指变通性、通用性或空间占有性等；物理能，指力、速度、连续运行能力、可靠性、联用性、寿命等。

因此，可以说机器人是具有生物功能的三维空间坐标机器。

3.机器人的组成机器人一般由执行机构、驱动装置、检测装置和控制系统等组成。

执行机构即机器人本体，其臂部一般采用空间开链连杆机构，其中的运动副（转动副或移动副）常称为关节，关节个数通常即为机器人的自由度数。

根据关节配置型式和运动坐标形式的不同，机器人执行机构可分为直角坐标式、圆柱坐标式、极坐标式和关节坐标式等类型。

出于拟人化的考虑，常将机器人本体的有关部位分别称为基座、腰部、臂部、腕部、手部（夹持器或末端执行器）和行走部（对于移动机器人）等。

驱动装置是驱使执行机构运动的机构，按照控制系统发出的指令信号，借助于动力元件使机器人进行动作。

它输入的是电信号，输出的是线、角位移量。

机器人使用的驱动装置主要是电力驱动装置，如步进电机、伺服电机等，此外也有采用液压、气动等驱动装置。

检测装置的作用是实时检测机器人的运动及工作情况，根据需要反馈给控制系统，与设定信息进行比较后，对执行机构进行调整，以保证机器人的动作符合预定的要求。

Robotics technology trendsBy : Jim Pinto, San Diego, CA. USAWhen it comes to robots, reality still lags science fiction. But, just because robots have not lived up to their promise in past decades does not mean that they will not arrive sooner or later. Indeed, the confluence of several advanced technologies is bringing the age of robotics ever nearer - smaller, cheaper, more practical and cost-effectiveBrawn, Bone & BrainThere are 3 aspects of any robot:∙Brawn – strength relating to physical payload that a robot can move.∙Bone – the physical structure of a robot relative to the work it does; this determines the size and weight of the robot in relation to its physical payload.∙Brain – robotic intelligence; what it can think and do independently; how much manual interaction is required.Because of the way robots have been pictured in science fiction, many people expect robots to be human-like in appearance. But in fact what a robot looks like is more related to the tasks or functions it performs. A lot of machines that look nothing like humans can clearly be classified as robots. And similarly, some human-looking robots are not much beyond mechanical mechanisms, or toys.Many early robots were big machines, with significant brawn and little else. Old hydraulically powered robots were relegated to tasks in the 3-D category – dull, dirty and dangerous. The technological advances since the first industry implementation have completely revised the capability, performance and strategic benefits of robots. For example, by the 1980s robots transitioned from being hydraulically powered to become electrically driven units. Accuracy and performance improved.Industrial robots already at workThe number of robots in the world today is approaching 1,000,000, with almost half that number in Japan and just 15% in the US. A couple of decades ago, 90% of robots were used in car manufacturing, typically on assembly lines doing a variety of repetitive tasks. Today only 50% are in automobile plants, with the other half spread out among other factories, laboratories, warehouses, energy plants, hospitals, and many other industries.Robots are used for assembling products, handling dangerous materials,spray-painting, cutting and polishing, inspection of products. The number of robots used in tasks as diverse as cleaning sewers, detecting bombs and performing intricate surgery is increasing steadily, and will continue to grow in coming years.Robot intelligenceEven with primitive intelligence, robots have demonstrated ability to generate good gains in factory productivity, efficiency and quality. Beyond that, some of the "smartest" robots are not in manufacturing; they are used as space explorers, remotely operated surgeons and even pets – like Sony's AIBO mechanical dog. In some ways, some of these other applications show what might be possible on production floors if manufacturers realize that industrial robots don't have to be bolted to the floor, or constrained by the limitations of yesterday's machinery concepts.With the rapidly increasing power of the microprocessor and artificial intelligence techniques, robots have dramatically increased their potential as flexible automation tools. The new surge of robotics is in applications demanding advanced intelligence. Robotic technology is converging with a wide variety of complementary technologies – machine vision, force sensing (touch), speech recognition and advanced mechanics. This results in exciting new levels of functionality for jobs that were never before considered practical for robots.The introduction of robots with integrated vision and touch dramatically changes the speed and efficiency of new production and delivery systems. Robots have become so accurate that they can be applied where manual operations are no longer a viable option. Semiconductor manufacturing is one example, where a consistent high levelof throughput and quality cannot be achieved with humans and simple mechanization. In addition, significant gains are achieved through enabling rapid product changeover and evolution that can't be matched with conventional hard tooling.Boosting CompetitivenessAs mentioned, robotic applications originated in the automotive industry. General Motors, with some 40-50,000 robots, continues to utilize and develop new approaches. The ability to bring more intelligence to robots is now providing significant new strategic options. Automobile prices have actually declined over the last two to three years, so the only way that manufacturers can continue to generate profits is to cut structural and production costs.When plants are converted to new automobile models, hundreds of millions of dollars are typically put into the facility. The focus of robotic manufacturing technology is to minimize the capital investment by increasing flexibility. New robot applications are being found for operations that are already automated with dedicated equipment. Robot flexibility allows those same automated operations to be performed more consistently, with inexpensive equipment and with significant cost advantages.Robotic AssistanceA key robotics growth arena is Intelligent Assist Devices (IAD) – operators manipulate a robot as though it were a bionic extension of their own limbs with increased reach and strength. This is robotics technology – not replacements for humans or robots, but rather a new class of ergonomic assist products that helpshuman partners in a wide variety of ways, including power assist, motion guidance, line tracking and process automation.IAD’s use robotics t echnology to help production people to handle parts and payloads – more, heavier, better, faster, with less strain. Using a human-machine interface, the operator and IAD work in tandem to optimize lifting, guiding and positioning movements. Sensors, computer power and control algorithms translate the operator's hand movements into super human lifting power.New robot configurationsAs the technology and economic implications of Moore's law continue to shift computing power and price, we should expect more innovations, more cost-effective robot configurations, more applications beyond the traditional “dumb-waiter” service emphasis.The biggest change in industrial robots is that they will evolve into a broader variety of structures and mechanisms. In many cases, configurations that evolve into new automation systems won't be immediately recognizable as robots. For example, robots that automate semiconductor manufacturing already look quite different from those used in automotive plants.We will see the day when there are more of these programmable tooling kinds of robots than all of the traditional robots that exist in the world today. There is an enormous sea change coming; the potential is significant because soon robots will offer not only improved cost-effectiveness, but also advantages and operations that have never been possible before.Envisioning VisionDespite the wishes of robot researchers to emulate human appearance and intelligence, that simply hasn't happened. Most robots still can't see – versatile and rapid objectrecognition is still not quite attainable. And there are very few examples of bipedal, upright walking robots such as Honda’s P3, mostly used for research or sample demonstrations.A relatively small number of industrial robots are integrated with machine vision systems – which is why it's called machine vision rather than robot vision. The early machine vision adopters paid very high prices, because of the technical expertise needed to “tweak” such systems. For example, in the mid-1980s, a flexible manufacturing system from Cincinnati Milacron included a $900,000 vision guidance system. By 1998 average prices had fallen to $40,000, and prices continued to decline.Today, simple pattern matching vision sensors can be purchased for under $2,000 from Cognex, Omron and others. The price reductions reflect today's reduced computing costs, and the focused development of vision systems for specific jobs such as inspection.Robots already in use everywhereSales of industrial robots have risen to record levels and they have huge, untapped potential for domestic chores like mowing the lawn and vacuuming the carpet. Last year 3,000 underwater robots, 2,300 demolition robots and 1,600 surgical robots were in operation. A big increase is predicted for domestic robots for vacuum cleaning and lawn mowing, increasing from 12,500 in 2000 to almost 500,000 by the end of 2004. IBot’s Roomba floor cleaning robot is now available at under $200.00.In the wake of recent anthrax scares, robots are increasingly used in postal sorting applications. Indeed, there is huge potential to mechanize the US postal service. Some 1,000 robots were installed last year to sort parcels and the US postal service has estimated that it has the potential to use up to 80,000 robots for sorting.Look around at the “robots” around us today: automated gas pumps, bank ATMs,self-service checkout lanes – machines that are already replacing many service jobs.Fast-forward another few decades. It doesn't require a great leap of faith to envision how advances in image processing, microprocessor speed and human-simulation could lead to the automation of most boring, low-intelligence, low-paying jobs.Marshall Brain (yes, that's his name) founder of has written a couple of interesting essays about robotics in the future, well worth reading. He feels that it is quite plausible that over the next 40 years robots will displace most human jobs. According to Brain's projections, in his essay "Robotic Nation", humanoid robots will be widely available by 2030. They will replace jobs currently filled by people for work such as fast-food service, housecleaning and retail sales. Unless ways are found to compensate for these lost jobs, Brain estimates that more than 50% of Americans could be unemployed by 2055 – replaced by robots.New robot applications aboundAs robot intelligence increases, and as sensors, actuators and operating mechanisms become more sophisticated, other applications are now multiplying. There are now thousands of underwater robots, demolition robots and even robots used inlong-distance surgery.Dozens of experimental search-and-rescue robots scoured the wreckage of the World Trade Center's collapsed twin towers. Teams of robotics experts were at Ground Zero operating experimental robots to probe the rubble and locate bodies. During the war in Afghanistan, robots were being used by the US military as tools for combat. They were sent into caves, buildings or other dark areas ahead of troops to help prevent casualties.A giant walking robot is used to harvests forests, moving on six articulated legs, advancing forward and backward, sideways and diagonally. It can also turn in place and step over obstacles.At UC Berkeley, a tiny robot called Micromechanical Flying Insect has wings that flap with a rhythm and precision matched only by natural equivalents. The goal is to develop tiny, nimble devices that can, for example, surreptitiously spy on enemy troops, explore the surface of Mars or safely monitor dangerous chemical spills.Robotics – an exciting new development arenaThe typical Automation techie has knowledge and experience in instruments, PLCs, computers, displays, controls, sensors, valves, actuators, data-transmission, wireless, networking, etc. These are exactly the key requirements for development of robots and robotic systems. During this time of economic recession, Robotics can surely be a new arena of exciting and rewarding business development.机器人技术发展趋势作者：Jim Pinto，加利福利亚州圣迭亚哥·美国谈到机器人，现实仍落后于科幻小说。

机器人外文翻译(中英文翻译)机器人外文翻译(中英文翻译)With the rapid development of technology, the use of robots has become increasingly prevalent in various industries. Robots are now commonly employed to perform tasks that are dangerous, repetitive, or require a high level of precision. However, in order for robots to effectively communicate with humans and fulfill their intended functions, accurate translation between different languages is crucial. In this article, we will explore the importance of machine translation in enabling robots to perform translation tasks, as well as discuss current advancements and challenges in this field.1. IntroductionMachine translation refers to the use of computer algorithms to automatically translate text or speech from one language to another. The ultimate goal of machine translation is to produce translations that are as accurate and natural as those generated by human translators. In the context of robots, machine translation plays a vital role in allowing them to understand and respond to human commands, as well as facilitating communication between robots of different origins.2. Advancements in Machine TranslationThe field of machine translation has experienced significant advancements in recent years, thanks to breakthroughs in artificial intelligence and deep learning. These advancements have led to the development of neural machine translation (NMT) systems, which have greatly improved translation quality. NMT models operate by analyzinglarge amounts of bilingual data, allowing them to learn the syntactic and semantic structures of different languages. As a result, NMT systems are capable of providing more accurate translations compared to traditional rule-based or statistical machine translation approaches.3. Challenges in Machine Translation for RobotsAlthough the advancements in machine translation have greatly improved translation quality, there are still challenges that need to be addressed when applying machine translation to robots. One prominent challenge is the variability of language use, including slang, idioms, and cultural references. These nuances can pose difficulties for machine translation systems, as they often require a deep understanding of the context and cultural background. Researchers are currently working on developing techniques to enhance the ability of machine translation systems to handle such linguistic variations.Another challenge is the real-time requirement of translation in a robotic setting. Robots often need to process and translate information on the fly, and any delay in translation can affect the overall performance and efficiency of the robot. Optimizing translation speed without sacrificing translation quality is an ongoing challenge for researchers in the field.4. Applications of Robot TranslationThe ability for robots to translate languages opens up a wide range of applications in various industries. One application is in the field of customer service, where robots can assist customers in multiple languages, providing support and information. Another application is in healthcare settings, where robots can act as interpreters between healthcare professionals and patientswho may speak different languages. Moreover, in international business and diplomacy, robots equipped with translation capabilities can bridge language barriers and facilitate effective communication between parties.5. ConclusionIn conclusion, machine translation plays a crucial role in enabling robots to effectively communicate with humans and fulfill their intended functions. The advancements in neural machine translation have greatly improved translation quality, but challenges such as language variability and real-time translation requirements still exist. With continuous research and innovation, the future of machine translation for robots holds great potential in various industries, revolutionizing the way we communicate and interact with technology.。

附录外文翻译：机器人的组成(1)hobby engineeringIts easier to learn about building robots if you take it one step at a time. This menu breaks a fairly complex robot into bite-sized pieces (or byte-sized for you programmers) to make the information easier to digest. We think that this is a good way to both learn about robots and to plan your actual construction. If you try to do everything at once you are likely to end up with a mess. If you plan and build in small steps, you are almost guaranteed success.(2)ControllersThe controller is the brains of your computer. The controller receives information from sensors and the input part of the human interface. It then decides what to do and sends instructions to the motion systems, actuators and the output part of the human interface. There are many types of controllers with different amounts of processing power and varying numbers and types of "pins" which connect to sensors, motors and the other part of the robot.In order for your controller or your robot to do anything, you must write a program and load that program into the controller's memory. Depending on your choice of controller, this can be fairly simple or extremely complicated. We recommend controllers using the Parallax Basic Stamp as the starting point for almost everyone. These controllers are programmed in an easy-to-learn language and have an integrated program loading system that is nearly 100% reliable. The Basic Stamp almost guarantees a fast start in programming whereas most alternatives require overcoming a significant level of difficulty just to get started. Even if you intend to "graduate" to more complex programming systems you will probably find the Basic Stamp a useful tool for investigating new ideas before developing your production code.(3)SensorsSensors provide your robot with information about its environment. Different sensors tell your robot about sights, sounds, pressures, temperatures and many other characteristics of the world around it.In many cases sensor components provide "data" when what you want is "information". Forinstance, a sonar component may report that an echo came back in .05ms when what you really want to know is that a robot is charging you from two feet away. In some cases the volume of data from sensor components is more than can be handled by a robot controller -- too much data can be as useless as no data at all. Because of this, many of sensor products are actually "smart" subsystems with specialized logic to evaluate the data stream and simplify programming your robot's main controller.When considering sensors, your first step is to identify what you want your robot to sense and how quickly and reliably you want to acquire that information. While "I want to know everything, right now, without error" sounds like a good specification, it probably isn't achievable and it definitely wouldn't be affordable. All practical sensors have definite limits of accuracy, range, resolution and repeatability. Each little increase in performance requires a large increase in cost so you will often accept what you can afford rather than insist on what you would like.While sensors are warranted to meet their specifications, they aren't guaranteed to do what you want in the way you want. While an IR distance sensor may be 99% accurate in the testing lab, your results may be less perfect in a competitive environment when your sensors may get confused by random reflections, your opponents sensors or even intentional interference. In order to be fully effective, you may need to compare the results from multiple sensors and/or filter the data to ignore results that seem inconsistent. As with every part of your robot, maximum effectiveness requires careful evaluation of real-world results and fine-tuning of your robot's circuits and program. This is not a "Plug And Play" hobby!When evaluating sensors, you want to know the following:○1What is actually being measured? For example, most distance sensors don't really measure distance. They measure how long it takes to receive an echo after they send a signal. You have to consider the possibility that the echo" is actually a stray signal and then find a way to eliminate those false readings. Reliable distance tracking systems usually look for patterns of consistent readings○2How many connections of what kind are required to connect the sensor to your controller? Do you have enough of those kinds of pins available on your controller? Does the signal need to be processed though an ADC or other hardware device to be usable by your program?○3How much power does the sensor require and at what voltage(s)? Will you have to increase your robots battery and power regulation capacity?A thorough technical evaluation of a sensor may require more knowledge than you possess. Fortunately, you can generally get good results by relying on common sense and the helpful nature of most other builders. The sensors we offer have all been used successful by builders of varying levels, so you can feel confident that you aren't attempting the impossible when you select one of the sensors we offer. We have tried to write product descriptions that translate the technical specifications into common English (common American to our off-shore friends) -- but keep in mind that something can get lost in any translation. Finally a search of the WEB will find you many examples of circuits and programs. (In the near future we will have our own samples posted with each product description.)(4)Robot Base KitsThe base is your robots skelton and it main functions are to hold all the other parts together and to protect delicate parts from harm. A base can be as simple as a scrap piece of wood or as complicated as a space ship.In many cases the design of the base is completely intertwined with the design of the motion systems. Sometimes the mechanical components for a robot can be "borrowed" from a toy or other hobby. Radio controlled planes, cars and boats (including submarines) have been used to provide the base and motion system of robots.(5)Human Communications SystemsYour robot can "talk" to you via computer generated voice, blinking lights and text displays. It can "listen" to your instructions sent by keyboard, switches or wireless remote control. Computer people prefer to use the word "output" instead of "talk" and "input" instead of "listen", but you know what they mean.(6)ActuatorsAn actuator is any device that makes your robot do something. Motion Systems and the output part of the Human Communications Systems are just specialized actuators which are important enough that we though they deserved their own sections.Actuators can move things or control other devices. Almost any device operated with electricitycan become an actuator. Depending on the device it may be connected directly to the controller or indirectly by an H-Bridge or relay. Your robot can also control things remotely using radio frequency or infrared transmission or even over the internet. The X-10 home control system allows your robot to control household lights and appliances.(7)Motion SystemsRobots are usually moved by a combination of wheels, gears, motors and associated electronics. Sometimes motor systems are assembled piece-by-piece but the most common form of robot motion these days comes from servos similar to the kind used with radio controlled airplanes. While most robots roll, it is possible to build robots that walk, jump or even swim or fly.A continuous rotation servo is a modified hobby servo that can rotate 360 degrees in either direction. These servos are economical and provide a neat system of motors, gears and electronics that can be directly connected to most robot controllers. A number of different types of wheels are available which attach directly to the servo axle. Most simple robots use two servos to provide both motion and direction control. Direction is controlled by what is called "differential steering" -- steering by varying the speed and direction of each wheel. If your robot needs to turn left, just slow or stop the left wheel servo while maintaining or increasing the speed of the right wheel. The bigger the difference in speed, the sharper the turn.Motion systems can become as complicated as you choose and often require custom design and building of the mechanical and electronic components. Sometimes the mechanical components can be "borrowed" from a toy or other hobby. Radio controlled planes, cars and boats (including submarines) have been used to provide the base and motion system of robots.An H-Bridge is an electronic circuit which translates and boosts controller output signals to the level required to drive a standard electric motor with variable speed and direction. An H-Bridge is built into hobby servos, so they can be connected directly to the controller. When using other types of motors you need to provide your own H-Bridge. These can be purchased as completed assemblies or assembled from components.(1)爱好工程如果你采取每次一小步的策略。

外文原文Introduction to Industrial RobotsIndustrial robets became a reality in the early 1960’s when Joseph Engelberger and George Devol teamed up to form a robotics company they called “Unimation”.Engelberger and Devol were not the first to dream of machines that could perform the unskilled, repetitive jobs in manufacturing. The first use of the word “robots” was by the Czechoslovakian philosopher and playwright Karel Capek in his play R.U.R.(Rossum’s Universal Robot). The word “robot” in Czech means “worker” or “slave.” The play was written in 1922.In Capek’s play , Rossum and his son discover the chemical formula for artificial protoplasm. Protoplasm forms the very basis of life.With their compound,Rossum and his son set out to make a robot.Rossum and his son spend 20 years forming the protoplasm into a robot. After 20 years the Rossums look at what they have created and say, “It’s absurd to spend twenty years making a man if we can’t make him quicker than nature, you might as w ell shut up shop.”The young Rossum goes back to work eliminating organs he considers unnecessary for the ideal worker. The young Rossum says, “A man is something that feels happy , plays piano ,likes going for a walk, and in fact wants to do a whole lot of things that are unnecessary … but a working machine must not play piano, must not feel happy, must not do a whole lot of other things. Everything that doesn’t contribute directly to the progress of work should be eliminated.”A half century later, engi neers began building Rossum’s robot, not out of artificial protoplasm, but of silicon, hydraulics, pneumatics, and electric motors. Robots that were dreamed of by Capek in 1922, that work but do not feel, that perform unhuman or subhuman, jobs in manufacturing plants, are available and are in operation around the world.The modern robot lacks feeling and emotions just as Rossum’s son thought it should. It can only respond to simple “yes/no” questions. The moderrn robot is normally bolted to the floor. It has one arm and one hand. It is deaf, blind, and dumb. In spite of all of these handicaps, the modern robot performs its assigned task hour after hour without boredom or complaint.A robot is not simply another automated machine. Automation began during the industrial revolution with machines that performed jobs that formerly had been done by human workers. Such a machine, however , can do only the specific job for which it was designed, whereas a robot can perform a variety of jobs.A robot must have an arm. The arm must be able to duplicate the movements of a human worker in loading and unloading other automated machines, spraying paint, welding, and performing hundreds of other jobs that cannot be easily done with conventional automated machines.DEFINITION OF A ROBOTThe Robot Industries Association(RIA) has published a definition for robots in an attempt to clarify which machines are simply automated machines and which machines are truly robots. The RIA definition is as follows:“A robot is a reprogrammabl e multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.”This definition, which is more extensive than the one in the RIA glossary at the end of this book, is an excellent definition of a robot. We will look at this definition, one phrase at a time, so as to understand which machines are in fact robots and which machines are little more than specialized automation.First, a robot is a “reprogrammable multifunctional manipulator.” In this phrase RIA tells us that a robot can be taught (“reprogrammed”) to do more than one job by changing the informaion stored in its memory. A robot can be reprogrammed to load and unload machines, weld, and do ma ny other jobs (“multifunctional”). A robot is a“manipulator”. A manipulator is an arm( or hand ) that can pick up or move things. At this point we know that a robot is an arm that can be taught to do different jobs.The definition goes on to say that a ro bot is “designed to move material, parts, tools, or specialized devices.” Material includes wood,steel, plastic, cardboard… anything that is used in the manufacture of a product.A robot can also handle parts that have been manufactured. For example, a robot can load a piece of steel into an automatic lathe and unload a finished part out of the lathe.In addition to handling material and parts, a robot can be fitted with tools such as grinders, buffers, screwdrivers, and welding torches to perform useful work.Robots can also be fitted with specialized instruments or devices to do special jobs in a manufacturing plant. Robots can be fitted with television cameras for inspection of parts or products. They can be fitted with lasers to accurately mearure the size of parts being manufactured.The RIA definition closes with the phrase,”…through variable programmed motions for the performance of a variety of tasks.” This phrase emphasizes the fact that a robot can do many different jobs in a manufacturing plant. The variety of jobs that a robot can do is limited only by the creativity of the application engineer.JOBS FOR ROBOTSJobs performed by robots can be divided into two major categories:hazardous jobs and repetitive jobs.Hazardous JobsMany applications of robots are in jobs that are hazardous to humans. Such jobs may be considered hazardous because of toxic fumes, the weight of the material being handled, the temperature of the material being handled, the danger of working near rotating or press machinery, or environments containing high levels of radiation. Repetitive JobsIn addition to taking over hazardous jobs, robots are well suited to doingextremely repetitive jobs that must be done in manufacturing plants.many jobs in manufacturing plants require a person to act more like a machine than like a human. The job may be to pick a piece up from here and place it there. The same job is done hundreds of times each day. The job requires little or no judgment and little or no skill. This is not said as a criticism of the person who does the job , but is intended simply to point out that many of these jobs exist in industry and must be done to complete the manufacture of products. A robot can be placed at such a work station and can perform the job admirably without complaining or experiencing the fatigue and boredom normally associated with such a job.Although robots eliminate some jobs in industry, they normally eliminate jobs that humans should never have been asked to do. Machines should perform as machines doing machine jobs, and humans should be placed in jobs that require the use of their ability,creativity, and special skills.POTENTIAL FOR INCREASED PRODUCTIVITYIn addition to removing people from jobs they should not have been placed in, robots offer companies the opportunity of achieving increased productivity. When robots are placed in repetitive jobs they continue to operate at their programmed pace without fatigue. Robots do not take either scheduled or unscheduled breaks from the job. The increase in productivity can result in at least 25% more good parts being produced in an eight-hour shift. This increase in productivity increases the company's profits, which can be reinvested in additional plants and equipment. This increase in productivity results in more jobs in other departments in the plant. With more parts being produced, additional people are needed to deliver the raw materials to the plant, to complete the assembly of the finished products, to sell the finished products, and to deliver the products to their destinations.ROBOT SPEEDAlthough robots increase productivity in a manufacturing plant, they are notexceptionally fast. At present, robots normally operate at or near the speed of a human operator. Every major move of a robot normally takes approximately one second. For a robot to pick up a piece of steel from a conveyor and load it into a lathe may require ten different moves taking as much as ten seconds. A human operator can do the same job in the same amount of time . The increase in productivity is a result of the consistency of operation. As the human operator repeats the same job over and over during the workday, he or she begins to slow down. The robot continues to operate at its programmed speed and therefore completes more parts during the workday.Custom-built automated machines can be built to do the same jobs that robots do. An automated machine can do the same loading operation in less than half the time required by a robot or a human operator. The problem with designing a special machine is that such a machine can perform only the specific job for which it was built. If any change is made in the job, the machine must be completely rebuilt, or the machine must be scrapped and a new machine designed and built. A robot, on the other hand, could be reprogrammed and could start doing the new job the same day.Custom-built automated machines still have their place in industry. If a company knows that a job will not change for many years, the faster custom-built machine is still a good choice.Other jobs in factories cannot be done easily with custom-built machinery. For these applications a robot may be a good choice. An example of such an application is spray painting. One company made cabinets for the electronics industry. They made cabinets of many different sizes, all of which needed painting. It was determined that it was not economical for the company to build special spray painting machines for each of the different sizes of enclosures that were being built. Until robots were developed, the company had no choice but to spray the various enclosures by hand.Spray painting is a hazardous job , because the fumes from many paints are both toxic and explosive. A robot is now doing the job of spraying paint on the enclosures.A robot has been “taught” to spray all the different sizes of enclosures that the company builds. In addition, the robot can operate in the toxic environment of the spray booth without any concern for the long-term effect the fumes might have on aperson working in the booth.FLEXIBLE AUTOMATIONRobots have another advantage: they can be taught to do different jobs in the manufacturing plant. If a robot was originally purchased to load and unload a punch press and the job is no longer needed due to a change in product design, the robot can be moved to another job in the plant. For example, the robot could be moved to the end of the assembly operation and be used to unload the finished enclosures from a conveyor and load them onto a pallet for shipment.ACCURACY AND REPEATABILITYOne very important characteristic of any robot is the accuracy with which it can perform its task. When the robot is programmed to perform a specific task, it is led to specific points and programmed to remember the locations of those points. After programming has been completed, the robot is switched to “run” and the program is executed. Unfortunately, the robot will not go to the exact location of any programmed point. For example, the robot may miss the exact point by 0.025 in. If 0.025 in. is the greatest error by which the robot misses any point- during the first execution of the program, the robot is said to have an accuracy of 0.025 in.In addition to accuracy , we are also concerned with the robot’s repeatability. The repeatability of a robot is a measure of how closely it returns to its programmed points every time the program is executed. Say , for example, that the robot misses a programmed point by 0.025 in. the first time the program is executed and that, during the next execution of the program, the robot misses the point it reached during the previous cycle by 0.010 in. Although the robot is a total of 0.035 in. from the original programmed point, its accuracy is 0.025 in. and its repeatability is 0.010 in.THE MAJOR PARTS OF A ROBOTThe major parts of a robot are the manipulator, the power supply, and the controller.The manipulator is used to pick up material, parts, or special tools used in manufacturing. The power supply suppplies the power to move the manipulator. The controller controls the power supply so that the manipulator can be taught to perform its task.外文翻译工业机器人的介绍20世纪60年代当约瑟夫和乔治合作创立了名为Unimation的机器公司，工业机器人便成为了一个事实。

介绍机器人的作文英文回答：Robots: The Future of Human Technology。

Robots, automated machines capable of carrying out complex tasks, have emerged as a cornerstone of modern technology. Their versatility and adaptability have revolutionized numerous industries, from manufacturing and healthcare to transportation and entertainment.Robotics encompasses a wide range of fields, including computer science, electrical engineering, and mechanical engineering. By integrating hardware and software systems, engineers can create robots that possess advanced capabilities such as:Motion and Manipulation: Robots can move and manipulate objects with precision, performing tasks that are often dangerous or repetitive for humans.Perception and Sensing: Equipped with cameras, sensors, and other devices, robots can perceive and interpret their surroundings, enabling them to navigate and interact with their environment.Decision-Making and Autonomy: Advanced robots can make decisions based on collected data and predefined algorithms, allowing them to operate autonomously in complex situations.The applications of robotics are vast and continuously expanding. In the manufacturing sector, robots automate assembly lines and perform high-precision tasks, increasing efficiency and productivity. In healthcare, robotic systems assist in surgeries, provide rehabilitation, and dispense medications, enhancing patient outcomes.Transportation has also benefited from robotics. Self-driving cars utilize advanced algorithms and sensors to navigate roads and avoid obstacles, offering increasedsafety and convenience. In the military, robots play a critical role in surveillance, reconnaissance, and combatoperations, reducing risks to human soldiers.Entertainment and personal assistance are other areas where robots are making significant strides. Companion robots provide companionship and assistance to individuals, particularly the elderly and those with disabilities. Service robots handle household chores such as cleaning, cooking, and laundry, freeing up time for human activities.The development of robotics raises ethical and societal considerations. As robots become more autonomous and intelligent, questions arise about their potential impact on employment, privacy, and human interaction. It is essential that we address these issues through responsible regulation and ethical guidelines.In conclusion, robots have become an integral part of our technological landscape, transforming industries and shaping the future of human society. Their continued evolution promises to bring even greater innovation and benefits in the years to come.中文回答：机器人，人类技术的未来。

外文翻译机器人The robot性质: □毕业设计□毕业论文教学院：机电工程学院系别：机械设计制造及其自动化学生学号：学生姓名：专业班级：指导教师：职称：起止日期：机器人1.机器人的作用机器人是高级整合控制论、机械电子、计算机、材料和仿生学的产物。

在工业、医学、农业、建筑业甚至军事等领域中均有重要用途。

现在，国际上对机器人的概念已经逐渐趋近一致。

一般说来，人们都可以接受这种说法，即机器人是靠自身动力和控制能力来实现各种功能的一种机器。

联合国标准化组织采纳了美国机器人协会给机器人下的定义：“一种可编程和多功能的，用来搬运材料、零件、工具的操作机；或是为了执行不同的任务而具有可改变和可编程动作的专门系统。

2.能力评价标准机器人能力的评价标准包括：智能，指感觉和感知，包括记忆、运算、比较、鉴别、判断、决策、学习和逻辑推理等；机能，指变通性、通用性或空间占有性等；物理能，指力、速度、连续运行能力、可靠性、联用性、寿命等。

因此，可以说机器人是具有生物功能的三维空间坐标机器。

3.机器人的组成机器人一般由执行机构、驱动装置、检测装置和控制系统等组成。

执行机构即机器人本体，其臂部一般采用空间开链连杆机构，其中的运动副（转动副或移动副）常称为关节，关节个数通常即为机器人的自由度数。

根据关节配置型式和运动坐标形式的不同，机器人执行机构可分为直角坐标式、圆柱坐标式、极坐标式和关节坐标式等类型。

出于拟人化的考虑，常将机器人本体的有关部位分别称为基座、腰部、臂部、腕部、手部（夹持器或末端执行器）和行走部（对于移动机器人）等。

驱动装置是驱使执行机构运动的机构，按照控制系统发出的指令信号，借助于动力元件使机器人进行动作。

它输入的是电信号，输出的是线、角位移量。

机器人使用的驱动装置主要是电力驱动装置，如步进电机、伺服电机等，此外也有采用液压、气动等驱动装置。

检测装置的作用是实时检测机器人的运动及工作情况，根据需要反馈给控制系统，与设定信息进行比较后，对执行机构进行调整，以保证机器人的动作符合预定的要求。

AxeBot Robot: The Mechanical Design for an Autonomous Omni directional Mobile RobotTiago P. do Nascimento, Augusto Loureiro da Costa, Cristiane Correa Paim Post-graduation Program in Electrical EngineeringUniversidade Federal da BahiaSalvador, Bahia, Brasiltiagopn@, augusto.loureiro@ufba.br, cpaim@ufba.brAbstractThe AxeBot robot‟s mechanical design, a fully autonomous mobile robot, for the RoboCup Small Size League, is presented in this paper. The AxeBot robot uses three omnidirectional wheels for movement and is equipped by a shooting device for shooting the ball in different directions. Once the AxeBot robot is a fully autonomous mobile robot all the sensors, engines, servos, batteries, and the computer system, must be embedded on. The project can be separated in four different parts: the chassis design, the wheel design, the shooting device design and the overall assembly which makes a shell design possible to cover the whole robot. The AxeBot mechanical design brings up a new chassis concept for three wheels omnidirectional robot, also present a new shooting device, and finally present AxeBots prototype assembly.1. IntroductionThe RoboCup Initiative is an international research group whose aims are to promote the fields of Robotics and Artificial Intelligence. A standard challenge, a soccer match performed by autonomous robot teams, was proposed in 1996 [1]. Initially with three different leagues 2D: Robot Soccer Simulation league, Small Size Robot league, and Middle Size Robot league. Nowadays these leagues have been increased up to: Four-Legged League, Humanoid League, Middle Size League, RoboCup Junior Soccer, Small Size League, Soccer Simulation, Standard Robot League. Also, another challenge, the RoboCup Rescue was proposed in 1999 to show that the result from the robot soccer research could be directly applied on a real world problem like a disaster rescue made by robots. Through the integration of technology and advanced computer algorithms, the goal of RoboCup is to build a team of humanoid robots that can beat the current World Cup champions by the year 2050. The AxeBot uses three omnidirectional wheels, positioned on a circle with an angle of 120o among each wheel, to move in different directions. Three Maxxon A-22 motors are used to drive the omnidirectional wheels, one motor per wheel. These motors are controlled by two Brainstem Moto 1.0 and a cascade controller made to control the robot trajectory [2] [3]. The AxeBot also holds a shooting device to kick the ball in different directions, a Vision System with a CMUCam Plus and GP202 Infra-red sensor [4], a embedded Computer System based on StrongArm, called StarGate Kit and a IEEE 802.11 wireless network card. This work presents the mechanical project to enclose these equipments into an fully autonomous omnidirectional robot calledAxeBot. The complete AxeBot dynamics and kinematics model can be found in [5], this model was used to specify some mechanical parameter, like the wheel diameter.2. The ChassisThe chassis of the robot is the frame to which all other components can be attached, directly or indirectly. Therefore the chassis must be strong enough to carry the weight of all parts when the robot is in rest o in movement. The chassis has to withstand the forces on it, caused by the acceleration of the robot as well. Another important requirement of the chassis is that it fixes all components in a stiff way, so that there will be small relative displacements of the components within the robot, during acceleration and deceleration. This is particular important for the three driving motors, which are positioned on the ground plane with an angle of 120o between each motor. The performance of the control of the robot is dependent on a precise and stiff placement of the motors [6]. The chassis has to be strong enough also to withstand a collision of the robotagainst the wall or against another robot, with the highest possible impact velocity that can occur. Finally the chassis has to be built with the smallest amount of material. At first to reduce the costs, and to minimize the total weight of the robot. Less weight requires less power to accelerate. So with the same motors, less weight gives you more acceleration. This is of course only true, when all the power generated by the motors can be transferred, via the wheels, to the ground. In other words, the wheels must have enough traction that there will be no slip between the wheels and the ground [7].2.1. MaterialFiberglass was used to build the chassis. This choice is purely financial, because the material is not expensive (although it is strong) and there is no need to hire a professional constructor. The building of all the chassis (six in total) can be done by the team members themselves. Only the moulds have to be built by a professional. The upper and lower chassis can be made using one mould that can be adjusted to produce the different chassis.2.2. DesignThe primary goal of the design is the fixation of the motors in the desired positions. Therefore a ground plate with 3 slots for the motors is modeled. At the front side each motor can be attached to the chassis. At the rim of the ground plate an edge is attached to give the chassis more torsion stiffness. This edge can also be used for attaching other components of the robot, like the covering shell. Also there is a cutout to create space for the shooting device of the robot. In section 5 the design of this device will be discussed. However no final design will be presented and therefore we stick with this assumption that the shooting device needs these cutouts. All edges are rounded, because this will make the construction of the easier part. The final part, the lower chassis, is shown in the figure below. This part is modeled in Solid Edge. To get a stiffer and stronger chassis, a second chassis part, the upper chassis, is modeled. This is almost an exact copy of the first part, only now there are 3 cutouts that provide more space for placing the components of the robot. These cutouts also save some material and therefore weight. The both parts are This sandwich construction gives thewhole chassis more stiffness, and so the total thickness of both the chassis can probably be lower than using one chassis part.Figure 1: Lower chassisFigure 2: Upper and lower chassis attached to each other2.3. Chassis mouldTo build these parts, a mould was made. This is just a negative of the actual robot parts. In figure 3 the mould of the upper chassis. To change this mould in the mould for the lower chassis, where the ground plate does not have holes, the indicated pieces (with white stripes) and the not indicated left piece (symmetric to the most right part) should be lowered 4 mm. For the upper and lower chassis, the basis mould is exactly the same. Only piece one and two are different for the two chassis, the motor piece and the shooting system piece are the same.Figure 3: Chassis mould3. WheelsThe AxeBot robot is equipped with three wheels positioned on a circle with an angle of 120°among attached to each other as shown in the picture below.each wheel. These wheels have to enable the omnidirectionality of the AxeBot robot. This means that the wheels have to be able to let the robot make two translational movements (in x and y-direction, see figure 4) without rotating the robot around its z-axis (the axis perpendicular to the y and x-axis, that is rotation in figure 4). The wheels have also to enable a rotation of the total robot around the z-axis.Figure 4: AxeBot wheels positionsNevertheless, the wheels have to be as small and light as possible to minimize weight and moment of inertia but still remain usable and manageable. The wheels are based on an existing design of an omnidirectional wheel from the Cornell Robot 2003 [8]. Figure 5 shows an exploded view the final version of a wheel. The two shells are connected to each other by screws and hold every part on the right place. The hub is also attached to the shells by screws. The hub is mounted on the output axle of a motor by a screw to transfer the rotational output of a motor to the wheel. The rings of the rollers are in contact with the floor. A roller can rotate around its roller axle.As mentioned above, the wheel has to enable two translations (x and y, see figure 4) without rotating around its z-axis. The whole wheel ensures one translation by rotating around the output shaft of the motors while the rollers ensure the other translation. Combining these translations on a proper way a robot can move anywhere in a plane or make a rotation.3.1. RingThe ring is the only part of the wheel that is in contact with the floor. Note that a wheel can also be in contact with the floor by two rings. To obtain maximum grip (no slip) the Cornell Robot 2003 team first developed rollers without rings. The rollers had sharp edges to cut into the carpet of the football fieldfor maximum grip. This however ruined the carpet and rubber rings were added in the design to obtain maximum grip without ruining the carpet. The rings are circular with a circular profile.Figure 5: Exploded view of the wheelTherefore the rubber rings are also used for the AxeBot 2006. Rubber rings can be bought in several sizes and since they are highly elastic it wasn‟t difficult to find a ring of a right size. Since there are more than one …right sizes‟ and the geometry of the ring is that simple, no technical drawing of the ring was made.3.2. RollerThe geometry of the rollers may not restrict the rotation of the roller and should enable the placement of the rubber ring, without the ring falling off. This can be easily obtained (see drawings). The only problem is friction with their axles and with the shells.The geometry of the rollers can influence the friction with the shells and the friction with its roller axle. To minimize the possibility of wear on the contact area between the roller and the roller axle, this contact area should be as big as possible.When the torque of the motor is transferred through a roller to the ground (driving the robot), the roller that is on the ground is pressed against the shells. It will occur often that, in this situation, the desired driving direction also requires a rotation of the roller (then the summation of the two translational movements will results in the desired driving direction). The rotating roller is, in this situation, pressed against the shells which, in some cases, can result in wear of the roller and or the shells. This depends on the material of the roller, the material of the shell, the magnitude of the force which presses the surfaces on each other (in this case it is the torque of the motor) and the geometry of both contact surfaces. Only the materials and geometry can be chosen in the design process of the wheels.A small contact area results in low friction but possible wear of one of the two surfaces and though materials have to be used to avoid wear. A large contact area will not cause wear but will result in a large friction force. An optimum for the contact area and the materials has to be found. The geometry has to be machinable also. Problems that are mentioned above did not occur with the design of the rollers of the Cornell Robot 2003. Therefore the same geometry for the rollers is used for the AxeBot.The Cornell Robot 2003 team designed a wheel with 15 rollers that worked very well. Therefore also 15 rollers are used in each wheel of the AxeBot 2006.The prototypes of the wheels of the Cornell Robot 2003 first had Delrin rollers to minimize friction and weight. Delrin is a kind of plastic which is used with moving contact surfaces because of its low friction coefficients with other materials. After a few test with the prototype robot it became clear that the Delrin-rollers easily broke with a collision. Therefore the Cornell Robot 2003 was equipped with aluminum rollers. These were strong enough to withstand collisions and aluminum has a low density (compared to other metals).However, during other prototype tests of the Cornell Robot 2003 team some aluminum residue built up on the steel rollers axles. The Cornell Robot 2003 did not encounter problems due to the wearing of the aluminum rollers, but to optimize the design of the AxeBot wheels this problem was solved.To avoid wearing of the aluminum rollers other material for the axles can be used or the rollers can be made of a tougher material. After a few calculations it became clear that roller axles of Delrin (to reduce the friction) are strong enough (see the section about the axles), but it is not possible to produce thin bars of Delrin. Therefore steel axles are used, the same material as the roller axles of the Cornell Robot 2003.So to avoid wear of the rollers a more though material than aluminum has to be used for the rollers. Steel is more though and an easily obtainable and cheap material. Adisadvantage of steel compared to aluminum is its higher density. This will increase the moment of the inertia which …costs‟ more torque of the motor. The total moment of inertia of a wheel with steel rollers is 1.39×10−4kgm2 and the moment of inertia of a wheel with aluminum rollers is 1.30×10−4kgm2. Using steel rollers instead of aluminum rollers would increase the moment of inertia by 7 this increase is neglectable small and steel rollers can be used.Concerning friction, using steel rollers and steel axles is also better than using aluminum rollers and steel axles since the friction-coefficient between steel and steel is lower than that between steel and aluminum. A lubricant can also be used to even more reduce friction.3.3. Roller axleAs mentioned above, the use of Delrin for the roller axles was investigated since it would reduce the wear of the aluminum rollers. In a static situation was calculated whether Delrin axles of 2.4 mm diameter would be strong enough. This was also done in a dynamical situation (dropping the robot on the floor and landing on one roller), but without using a Finite Element Method this did not result in realistic results. When the total weight of 3.5 kg of one AxeBot 2006 would completely be on one roller axle this would result in a shear stress in the axle.In this situation the shear stress can be calculated by dividing the force on the axle (due to the weight of the AxeBot) by the area of the shear plane. The area of the shear plane is of course the area of a circle with a radius similar to the radius of the axles. Note that the weight of the AxeBot has to be divided by two since there are two shear planes in one axle.The magnitude of the shear stress would be 3.8 MPa. Delrin starts to plastically deform in due to shear at around 44 MPa. Statically, Delrin axles would be strong enough.However, this calculation was not necessary it became clear that it is not possible to produce Delrin bars of 2.5 mm (diameter). Therefore steel axles will be used (aluminum axles would result in more friction). To reduce friction, the axles were coated with a lubricant like carbon. Lubricants like carbon are easily available.The Cornell robot team 2003 documentation does not mention problems of wear of their polycarbonate shells due to their steel roller axles. As one can be read further down this section, the shells of the AxeBot wheels will be made of aluminum or polycarbonate. The coefficient of friction between aluminum (shells) and steel (axles) and between polycarbonate (shells) and steel (axles) are of equal sizes (about 0.45 [-]). Also, the geometry of the wheels of the Cornell robot and the AxeBot are almost the same. Therefore it is most likely that wearing due to friction will not be a problem with steel roller axles and polycarbonate or aluminum shells.Production the axles can easily be made out of a steel bar. Depending on the available diameters of steel bars, the diameter of the axles could be adjusted. The edges of the axles are rounded to avoid sharp corners.3.4. HubThe hub connects the wheel to the axle of the motor. A M2-bolt can be used for this purpose, the hole in the hub where this bolt will be placed is dimensioned 1.5 mm indiameter so screw thread can be made to fit in the M2-bolt. The hub is connected to the shells by three M3-screws. Corresponding holes of 2.5 mm will be made in the hub and the shells. The geometry of the hub can be changed to facilitate the production process. The hub can be made out of aluminum or polycarbonate, both light materials. To investigate the option (and price) of injection moulding the hub out of polycarbonate a sketch of a design for a mould has been made.3.5. ShellsAlmost the all geometry of the shells of the Cornell Robot 2003 is used. Only little changes in the slots for the rollers of the axles have been made to facilitate the production process of the shells. In the section about the production of the shells a different design for the slots of the axles is presented to make the production of the shells easily.The shells can be made out of aluminum or a though, light plastic like polycarbonate. The Cornell Robot had shells of polycarbonate. The best machinable material is preferred, and the one used on the AxeBot‟s shell. Wh en using a plastic that can be injection molded, molds have been designed to check the prices of injection moulding.4. Shooting DeviceThis design consists of a vertical arm (the kick arm), that can swing around an axle which is fixed to the robot. This movement will be actuated by one of the two servos, the kicking servo, that is also fixed to the robot. The other servo, the directional servo, is attached to the bottom of the kick arm (the servosocket). A pendulum-like system is formed, so a large mass is concentrated in the lower part of a rotating arm. The kicking servo has a kicking plate attached to it which can rotate and thereby makes it possible to shoot in different directions. The kicking plate can be positioned very accurately since servos are designed for these kinds of tasks. The kicking plate is also connected to the servosocket. Therefore the collision force between the ball and the kicking plate will be guided to and divided by these two connection points. There will be less bending in the kicking platethen with one connection point and smaller reaction forces will act on the connection points.Figure 6: The AxeBot shooting device5. Shell and AxeBot AssemblyThe shell is the cover of the total robot. It will be made from fiberglass as well, for the same reasons as stated in the section about the chassis. In the figure below the design of the shell is shown. There are cutouts to make room for the wheels as well as for the shooting device. The diameter of the shell is 178 mm. Because the maximum allowable diameter is 180 mm, a margin of 2 mm is created.On top of the shell a vision system will be mounted. For the sake of compactness of the robot the height should be as small as possible, with all the parts fitting in. Thismould can be built with the simple milling machine that is available.To assemble the robot the most important demand is to obtain a total centre of gravity that has the lowest possible position in the robot. This will give the robot positive driving abilities. Another demand is of course that all the parts fit in the maximum height of 150 mm.To check this, all the parts of the robot have been modeled in Solid Edge. In figure 7 an exploded view of the total robot assembly is shown.The robot consists of an upper and lower chassis. Three motors with three omnidirectional wheels are attached to it. On the bottom of the robot, the two battery packs are placed, because these parts have the largest mass. The three motor processors are attached to two general processors. Also the overall processor with the data-transfer-unit is assembled. The latter parts are assembled in a way that is most compact. With this assembly it is possible for all parts to fit in a shell with height of 100 mm.A model for the shell of the robot is designed. Also a molt to produce these parts is modeled. It is possible to produce this model by using the milling machine that is available at the university. The assembly of all the parts, except the shooting device, shows that a shell height of 100 mm is possible.Figure 7: Exploded view of the total robot assemblyFigure 8: Total robot assembly6. ConclusionThe AxeBot mechanical design, a fully autonomous mobile robot, for the RoboCup Small Size League, was presented in this paper. This mechanical design brings up a new concept of chassis for three wheels omnidirectional mobile for RoboCup F-180 league, that can be built easily and cheap. Also a new effectuator mobile robot design for RoboCup F-180 league is presented here. This new effectuator allows the mobile robot to shoot the ball in different directions, instead of just shoot a head like the othershooting devices. Finally the mechanical project presented here encloses all part, sensor, actuators, effectuator, computer systems, wheels, chassis and cover shell into the AxeBot prototype. The AxeBot robot was concept for academical proposes, using the robot soccer as a laboratory to research in Autonomous Mobile Robots, Artificial Intelligence and related areas. Looking forward, in a few months, four more AxeBots are expected to be built like the two in figure 9. These robots will form the MecaTeam F-180, and height of 100 mm is possible.will support our research in to multi-robot systems, as it can be seen in figure 9 below.Figure 9: AxeBot photo7. References[1] Kitano, H. “Robocup: The robot world cup initiative”. In: Proc. of The First International Conference on Autonomous Agent (Agents-97)). Marina del Ray, The ACM Press. 1997.[2] Franco, A. C. “Geração e controle de tra jetória de robôs móveis omni-direcionais”, Master‟s thesis, Programa de Pós-Graduação Mecatrônica, UFBA. 2007.[3] PIRES, E. J. S.; MACHADO, J. A. T.; OLIVEIRA, P. B. de M. “Robot trajectory planning using multi-objective genetic algorithm optimization”. In: DEB, K. et al. (Ed.). GECCO (1). [S.l.]: Springer, 2004. (Lecture Notes in Computer Science, v. 3102), p.615-626. ISBN 3-540-22344-4.[4] Oliveira, L. R., Costa, A. L., Schnitman, L. and Souza, J. “An architecture of sensor fusion for spatial locat ion of objects in mobile robotics”, in B. H. Spring-Verlag (ed.), Encontro Português de Inteligência Artificial, EPIA‟2005, Covilhã, 2005. pp. 462–473.[5] Nascimento, T. P., Costa, A. L., Paim, C. C. “Uma abordagem multivariável para modelagem de robôs móveis omnidirecionais”, XVI CBA - Congresso Brasileiro de Automação. 2008.[6] ANGELES, J. “Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms”. 2. ed. New York: Springer-Verlag New York, Inc., 2003. [7] B. Carter, M. Good, M. Dorohoff, J. Lew, R. L. W. II, and P. Gallina, “Mechanical design and modeling of an omni-directional robocup player,” in Proceedings RoboCup 2001 International Symposium, (Athens, Ohio), pp. 1–10, 2001.[8] Anderson, G., Chang, C., Chung, D., Evansic, L., Law, H., Richardson, S., Robers, J., Sterk, K. and Yim, J. 2003 cornell robocup, mechanical group final documentation, Technical report, /. 2003.翻译：AxeBot机器人：全方位自主移动机器人的机械设计摘要:这篇文章中介绍了一个用来参与机器人世界杯小尺寸等级比赛的完全自主移动AxeBot机器人的机械设计。

附录：The robot1.The role of robots”The role of robots Is a high-level integration of control theory, robotics, machinery and electronics, computers, materials and bionic product. In industry, medicine, agriculture, construction and even the military have important applications in such areas. Now, the international concept of robots has been gradually approaching the same. In general, people can accept the claim that the robot is controlled by its own power and ability to achieve the various functions of a machine. The United Nations Organization for Standardization adopted by the American Federation of Robotics to the robot under the definition: "a programmable and versatile, used to move materials, parts, tools, operating machines; or to perform different tasks have to change and Programmable action specialized systems.2.Evaluation criteriaCapacity of evaluation criteria Robot capability evaluation criteria include: intelligence, refers to feelings and perceptions, including memory, calculation, comparison, identification, judging, decision-making, learning and logical reasoning, etc.; function, refers to flexibility, versatility or space occupied, etc.; physics can be means the power, speed, continuous operation capability, reliability, combined with nature, life and so on. Therefore, it can be said robot is a biological function of three-dimensional coordinates of the machine.position of the robotThe composition of the robot Robots in general by the executing agency, drives, detection devices and control system, etc.. Implementing agency, the robot body, the buttocks generally use the space for open-chain linkages, the movement of which the Deputy (rotate or move the Deputy Vice-) often referred to as joints, and joints shall be the number of robots are usually a fewdegrees of freedom. According to joint configuration types and the different forms of movement coordinates, the robot implementing agencies can be divided into rectangular type, cylindrical coordinate type, polar coordinate type and other types of joint coordinate type. For anthropomorphic considerations, often the relevant parts of the robot body are known as the base, waist, arm, wrist, hand (gripper or end effector) and the Ministry of walking (for mobile robot), etc. . Drive device is driven by movement of the body implementing agencies, in accordance with the directives issued by the signal control system, by means of dynamic components, the robot action is needed. It is the input signal, the output is the line, the amount of angular displacement. Drive robot is mainly used in electric drives, such as stepper motors, servo motors, etc. In addition, there is also hydraulic, pneumatic, etc. drives.Detecting device is the role of real-time detection robot's movement and work of the required feedback to the control system, compared with the configuration information, the right to adjust the implementing agencies to ensure the robot's movements to meet the intended requirements. As a sensor detecting device can be divided into two categories: one is internal information sensors for detecting the internal situation in various parts of robots, such as the joint position, velocity, acceleration, etc., and the measured information as a feedback the signal sent to the controller, to form a closed-loop control. The other is external information sensors, used to obtain information about the operation of robots and other objects and external environment of information, so that the robot moves to adapt to changing circumstances, so that to achieve a higher level of automation, even the machine person has a certain "feel" to the intelligent development, such as visual, sound and other external sensors sense given object of work,information about the working environment, the use of such information constitutes a major feedback loop, which will greatly enhance the work of the robot accuracy. Control system in two ways. One is the centralized control, that is, the robot's control by a microcomputer to complete. The other is decentralized (level)-type control, which uses multiple computers to share the control of robots, such as when using the upper and lower two computers together to complete the robot control, the host often used for system management, communication, kinematics and dynamics calculations, to send commands to the lower-level computer information; as a junior from the machine, the joints corresponding to a CPU, for interpolation and servo control processing operations to achieve a given movement, to the host feedback. According to the different operational mission requirements, the robot control mode can be divided into point to point control, continuous path control and force (torque) control.4.History of RobotsRobot History 1920 Czechoslovakia writer Karel C apek in his • sci-fi novel "Rossum's Universal Robots company", according to Robota (Czech, intended to "labor, slave labor") and Robotnik (Polish, the original intent as "workers"), to create a "robot" is the word. World Expo 1939 in New York on display at the Westinghouse Electric Company manufactured home robot Elektro. It is controlled by a cable, you can walk, say 77 words, or even smoke, but still far from the real chores. But it give people a vision of domestic robots to become more specific. Asimov sci-fi masters 1942, the United States put forward the "Three Laws of Robotics." Although this is only the creation of science fiction, but later became the principle of academic research and development by default. • In 1948 Norbert Weiner published in "c ontrol theory" to explain the machine in the communication and control function and the nervous, sensory function of the common law, first proposed as the core of computer-automated factory. 1954, American George • Dwyer created the world's first programmable robot and registered patents. This mechanical hand in accordance with different programs in different jobs, so has the versatility and flexibility. 1956 Dartmouth meeting • Marvin Minsky has made his views on intelligent machines: Smart Machine "to create an abstract model of the surrounding environment, if you encounter problems, from abstract model to find a solution" . This definition affects the subsequent 30years of intelligent robot research direction. Dwyer and the United States in 1959, invento r Joseph • Ingeborg joined hands to create the first industrial robot. Subsequently, the establishment of the world's first a robot manufacturing plant - Unimation company. As Ingeborg R & D for industrial robots and publicity, he was known as the "father of industrial robots." AMF Inc. in 1962, the United States produced "VERSTRAN" (meaning universal handling), and Unimation produced Unimate as a truly commercial industrial robots, and exported to countries around the world, setting off a worldwide study of robots and robot the globe. 1962 -1,963 years the application of sensors to improve the operability of the robot. People try all kinds of sensors installed on the robot, including the 1961 Ernst used in tactile sensors, Tomovic and Boni 1962, the world's first "smart hand" on the use of pressure sensors, while the McCarthy in 1963, has begun to add visual sensor in robot system, and in 1965, helped MIT launched the world's first with a vision sensor that can identify and locate building blocks of the robotic system. 1965 Johns Hopkins University Applied Physics Laboratory • developed Beast robot. Beast has been through sonar systems, photoelectric tubes and other devices, the environmental correction own position. 60 mid-20th century, the U.S. Massachusetts Institute of Technology, Stanford University, University of Edinburgh, been set up in the robot lab. The United States with the rise of the second-generation sensors research, "there feel" of the robot, artificial intelligence and to work towards it. The world's first intelligent robot Shakey Stanford Research Institute in 1968, the United States announced that they successfully developed a robot Shakey. It is with a vision sensor, according to the instructions of people to discover and crawl the building blocks of a computer to control it, but there is a room so much. Shakey can be regarded as the world's first intelligent robot, beginning the prelude to the third generation of robot research and development. 1969, Ichiro Kato, Waseda University Laboratory developed the first robot to walk, walk. Ichiro Kato, the long-term commitment to research humanoid robot, known as "the father of humanoid robot." Japanese experts has been to develop humanoid robots and robot technology, known for entertainment, then go one step further hastened the development of Honda's ASIMO and Sony's QRIO. In 1973 the world's first robot and small computers to work together, they gave birth to the U.S. company Cincinnati Milacron robot T3. Unimation introduced in 1978, the U.S. general industrial robot PUMA, which marks the industrial robot technology has reached full maturity. PUMA is still work in the factory in theforefront. 1984 Ingeborg pushed robot Helpmate, the robot can deliver meals to patients in the hospital and get drugs, to send e-mail. In the same year, he predicted: "I want robots to clean the floor, cooking, washing out to help me to check security." In 1998 Denmark introduced Lego Robot (Mind-storms) package, so get with the building-block robot manufacturing the same, relatively simple and can arbitrarily assembled, the robot started to enter the private world. In 1999 Sony introduced Aibo robot dog (AIBO), immediately sold out, and from entertainment robots become the robot forward one of the ways ordinary family. In 2002 the U.S. introduced the iRobot robotic vacuum cleaner Roomba, it can avoid obstacles, automatic design of the road route, but also in the power is insufficient, automatically towards charging seat. Roomba is the world's largest-selling and most commercial household robots. an authorized agent iRobot Corporation Beijing: Beijing Science and Technology Co., Ltd. Micro-Mesh, Tomohiro http / / www micronet net cn. In June 2006, Microsoft launched the Microsoft Robotics Studio, robotics modular, unified platform, it became increasingly evident, Bill • Gates predicted that household robots will soon be sweeping the world5.Robot category articlesBeing born in science fiction, like, people are full of fantasy robot. Perhaps it is because the definition of fuzzy robots, which gave the people full of imagination and creative space. Domestic robots: to help people take care of life, to do simple household chores. Manipulator-type robot: Can automatic, repeatable programming, multi-functional, there are several degrees of freedom can be fixed or movement, for associated automation systems. Programmable Robot: According to the order and conditions of apre-requirement in turn control the robot's mechanical movements.Teaching-playback robot: Adoption of the guidance or other means, the first robot moves the church, enter the work process, the robot will automatically repeat operations. NC robots: do not have to move the robot through the values, language, etc. for teaching the robot, the robot according to the information after teaching job. Feel-controlled robot: the use of sensors to obtain information on control of robot action. Adaptive control robot: able to adapt to changes in the environment, control their own actions. Learning control for robots: can "understand" the work experience, with a certain degree of learning function, and the "learning" experience for the work.Intelligent Robots: The artificial intelligence robot to determine its actions. China's environment, starting from the application of robotics experts, robots are divided into two categories, namely industrial robots and special robot. The so-called industrial robots for industrial areas of multi-joint or multi-DOF robot manipulators. In addition to the special robot is outside of industrial robots used for non-manufacturing and the service of mankind advanced robots, including: service robots, underwater robots, entertainment robots, military robots, agricultural robots, robot-based machinery. In the special robots, some branches have developed rapidly, there is a separate system for trends, such as service robots, underwater robots, military robots,micro-operation of robots. At present, the international robot scholars, starting from the application environment, the robot is also divided into two categories: manufacturing environment of industrial robots and the non-manufacturing environment, the service and humanoid robots, This classification is consistent with our The. Also known as unmanned aerial robot machines, in recent years, the family in the military robotics, unmanned aerial vehicles are the most active research activities, technological progress, the largest research and procurement of funds into the largest and most experienced in the field of combat. 80 years, the world is basically the development of unmanned aerial vehicles based on the main line of the United States to move forward, regardless of the technical level, the types and number of UAVs, the U.S. ranking first in the world.6.Robot varieties articles6.1 Unmanned aircraftdrones "Detachment" Unmanned Aerial Vehicle Throughout the history of UAV development can be said that modern warfare is to promote the UAV development. The impact of modern warfare UAV is also growing. The first and during World War II, despite the emergence and use of unmanned aerial vehicles, but because of low levels of technology, unmanned aerial vehicles does not play a significant role. The Korean War in the United States use of unmanned reconnaissance and attack aircraft, but in limited quantities. In the ensuing war in Vietnam, the Middle East war, UAVs have become an essential weapon systems. In the Gulf War, the war in Bosnia and Kosovo war, has become the main reconnaissance UAV types. French "Red Hawk" unmanned aerial vehicle U.S. Air Force suffered heavy losses during theVietnam War, was shot down aircraft, 2500, killed more than 5,000 pilots, the U.S. domestic public outcry. To this end the Air Force increased use of the UAV. Such as "buffalo hunters" UAV mission over North Vietnam 2500 times, low altitude photographs, injury rate of only 4%. AQM-34Q-type 147 firebee UAV Flight 500 several times, to conduct electronic eavesdropping, radio interference, dispersal of metal chaff and for some people to open up access, and so the aircraft. High-altitude unmanned reconnaissance aircraft In the 1982 war in the Bekaa Valley, Israeli forces discovered through aerial reconnaissance. Syria in the Bekaa Valley, a large concentration of troops. June 9, the Israeli army deployed US-made E-2C "Hawkeye" early warning surveillance aircraft to Syrian forces, and sent every day, "Scout" and "vicious dog" and unmanned aerial vehicles more than 70 sorties against Syrian forces in air defense positions Airport repeated reconnaissance, and to send images taken early warning aircraft and ground command. In this way, the Israeli army and accurately identify the location of the radar of the Syrian forces, and then launch the "wolf" type of anti-radar missiles, destroying the Syrian forces a lot of radar, missiles and automatic antiaircraft guns, and forced Syrian forces did not dare turn the radar, in order to in order to Army was the target to create the conditions for the aircraft. Phantom UAV The outbreak of the Gulf War in 1991, the U.S. military first face the problem of the Sand Sea is to be found in the vast hidden Iraqi Scud missile launchers. If someone reconnaissance aircraft, it must be round-trip flights over the desert, long exposure to the Iraqi army antiaircraft fire, under extremely dangerous. To this end, the U.S. military unmanned aerial surveillance has become the main force. Throughout the Gulf War, "Pioneer," the U.S. military to use unmanned aerial vehicles UAVs most kinds of U.S. forces deployed in the Gulf region a total of six Pioneer unmanned aerial vehicles with a total of 522 sorties flown, flight time of up to 1640 hours . At that time, regardless of day or night, every day there is always a Pioneer UAV flying over the Gulf. In order to destroy the Iraqi forces in the coastal fortifications built by strong, February 4 USS Missouri Chengye reaching offshore area, Pioneer UAV taking off from its deck, using infrared detectors were shot and send the images of ground targets to the command center. A few minutes later, warships and 406 mm guns began to bombard targets, unmanned aerial vehicles for the gun to school constantly firing. USS Wisconsin took over after the Missouri, so bombarded for three days straight, so that Iraqi artillery positions, radar network, command and communications center wascompletely destroyed. During the Gulf War, taking off only from the two battleships there is a pioneer in UAV 151 sorties, flying more than 530 hours to complete the target search, battlefield warning, maritime interdiction and naval gunfire support missions. Brevel UAV During the Gulf War, the Pioneer unmanned aerial vehicles have become pioneers of the U.S. Army troops. It is for the Army's 7th Army for aerial reconnaissance, shooting a large number of Iraqi tanks, command centers and missile launch position of the image, and send it to the helicopter unit, followed by the U.S. military sent the "Apache" attack helicopters of the targets attack, if necessary, can call for artillery fire support units. Pioneer aircraft survivability strong in the 319 sorties were flown, only one was hit, there are 4 ~ 5 due to electromagnetic interference and distress. In addition to the U.S., the United Kingdom, France, Canada also deployed unmanned aerial vehicles. Such as France's "fawn" division is equipped with a "Malte" UAV row. When the French troops fighting in Iraqin-depth, first sending the enemy reconnaissance unmanned aerial vehicles, according to detected conditions, the French escaped the Iraqi army tanks and artillery positions. 1995 Bosnian war, because troops need, "Predator" unmanned aerial vehicles will soon be transported to the front. Serb forces in the NATO air strikes of the supply lines, ammunition depots, command center, the "Predator" has played an important role. It first carried out reconnaissance and found that target to guide the aircraft to attack someone, and then for the war effort. It also provided for the United Nations peacekeeping force in Bosnia and Herzegovina on the main road military vehicles movement, and to determine whether the parties complied with the peace agreement. U.S. military and thus the "Predator," called the "battle of the low-altitude satellites." In fact, satellites can only provide instant images on the battlefield, while the UAV could be a long time hovering over the battlefield to stay on the battlefield and thus able to provide continuous real-time image, unmanned aerial vehicles is also much cheaper than using satellites. March 24, 1999, the US-led NATO banner of "safeguarding human rights" under the guise of the Federal Republic of Yugoslavia began bombing the outbreak of that shocked the world, "the Kosovo war." In the 78 days of bombing, NATO deployed a total of 32 million per aircraft, ships into more than 40 vessels, dropped bombs, 13 million tons, resulted in an unprecedented catastrophe in Europe since World War II. Federal Republic of Yugoslavia is mountainous and forest terrain, as well as more than rainy days more than the climatic conditions significantly affected the NATO reconnaissance satellites andhigh-altitude reconnaissance plane effect, the Sierra Leone Army also brings a fierce anti-aircraft fire, it was not low-flying reconnaissance planes, resulting in NATO Air Force does not recognize and attack the clouds below target. In order to reduce casualties, NATO's extensive use of unmanned aerial vehicles. The Kosovo war was the use of local wars in the world the largest number of unmanned aerial vehicles, unmanned aerial vehicles play a role in the greatest war. Although the UAV fly slowly at low altitudes, but it is small, radar and infrared characteristics of small, good for hiding, can not easily be hit, suitable for low-altitude reconnaissance, you can see the satellite and reconnaissance aircraft was See unclear objectives. During the Kosovo war, the United States, Germany, France and Britain dispatched a total of 6 different types of unmanned aerial vehicles, more than 200 planes, which are: U.S. Air Force's "Predator" (Predator), the Army's "Hunter" (Hunter) , and the Navy's "Pioneer" (Pioneer); German CL-289; France's "Red Falcon" (Crecerelles), "Hunter", and the United Kingdom's "Phoenix" (Phoenix) and other unmanned aerial vehicles. UAV in the Kosovo war, some of the major completed the following tasks: low-altitude reconnaissance and battlefield surveillance, electronic interference, victories assessment, targeting, weather data collection, distribution of leaflets, and rescue pilot, and so on. The Kosovo war has not only greatly increased the UAV's position in the war, but also aroused the attention of Governments on the UAV. U.S. Senate Armed Services Committee requested that the military should be prepared to 10 years, a sufficient number of unmanned systems tolow-altitude attack aircraft in one-third of UAVs; 15 years, one-third of ground combat vehicles unmanned systems should be in . This is not to use unmanned aircraft to replace the pilot and it was, but some people use them to add the capacity of the aircraft in order to high-risk tasks to minimize use of the pilot. UAV's development will accelerate the theory of modern warfare and unmanned warfare systems development.6.2 Special features robotspecial feature of the robot Machine Police The so-called military robots on the ground is used on the ground robot system, they are not only in times of peace can help police rule out bomb to complete the task should be to the security in wartime can be replaced by soldiers of mine, reconnaissance and attack a variety of tasks such as Today, the United States, Britain, Germany, France, Japan and other countries have developed various types of groundmilitary robots. Britain's "trolley" robot In Western countries, terrorism has always been one to make the headache problem. The United Kingdom due to ethnic conflicts, suffering from the threat of explosives, so as early as 60 years on the successful development of EOD robot. British developed crawler-style "trolleys" and "super cart" EOD robot, has more than 50 countries and police agencies has sold more than 800 units. Recently, Britain has in turn trolley robot to be optimized, prairie dogs and bison have developed two kinds of remote control electric EOD robot, the British Royal Engineers in Bosnia-Herzegovina and Kosovo are using them to detect and deal with explosives. Prairie dogs weigh 35 kilograms, the mast is equipped with two cameras. Bison weighed about 210 kilograms and can carry 100 kg of load. Both use radio control system, remote control distance of about 1 km. "Prairie Dog" and "Maverick" and EOD robot In addition to a bomb planted by terrorists outside the war-torn countries in many of the world, and everywhere a variety of scattered unexploded munitions. For example, in Kuwait after the Gulf War as an ammunition depot could explode at any time. In theIraq-Kuwait border over 10,000 square kilometer area, there are 16 countries manufacture of 25 million mines, 85 million rounds of ammunition, and the multinational forces dropped bombs and cluster bombs mines of 25 million bullets, of which at least 20% No explosion. And now, even in many countries there is residual in the First World War and World War II unexploded bombs and landmines. Therefore, explosive ordnance disposal robot is a great demand. Wheeled robot with the Removal of Explosive Devices and tracked, and they are generally small size, steering a flexible, easy to work in a small space, the operator can be a few hundred meters to several kilometers away through radio or optical control of their activities. Robot cars general color CCD camera is equipped with multiple pairs of explosives used for observation; more than one degree of freedom manipulator, with its gripper or clamp may be explosives, fuses or detonators screwed down, and to transport explosives walking; car was also equipped with shotguns, using a laser pointer aimed at, it can be to the timing device and detonating explosive devices to destroy; some robot is equipped with high-pressure water gun, you can cut explosives. Germany's EOD robot In France, the Air Force, Army and Police Department have purchased Cybernetics developed TRS200medium-sized companies EOD robot. DM's robots have been developedRM35 Paris Airport Authority selected. German peacekeepers in Bosnia and Herzegovina equipped Telerob team returned the company's MV4 series ofrobots. Developed by the Shenyang Institute of Automation of China's PXJ-2 robot has joined the ranks of security forces. U.S. Remotec's Andros series of robots were welcomed by national uniformed services, the White House and congressional buildings, police stations have to buy this robot. Before the presidential election in South Africa, the police bought a four AndrosVIA robots, they are in the electoral process carried out in a total of 100 multiple tasks. Andros robot can be used for small-scale random explosive ordnance disposal, it is the U.S. Air Force aircraft and passenger cars for use only robots. After the Gulf War, the U.S. Navy has used such a robot in Saudi Arabia and Kuwait Air Force Base in clearing mines and unexploded ordnance. U.S. Air Force also sent five sets Andros robot to Kosovo, for the clean-up of explosives and sub-shells. Each active duty Air Force explosives disposal team and air rescue centers are equipped with a Andros VI. EOD robot developed in China EOD robot can not only rule out the bombs, reconnaissance sensors can also use it to monitor the activities of criminals. Surveillance personnel in the far right criminals day and night to observe, listen to their conversation, do not expose themselves very well could be right. In early 1993, in the United States occurred in Waco estate lesson plans, in order to get the activities of the Puritans who, the FBI used two kinds of robots. One is Remotec's AndrosVA type and Andros MarkVIA-type robot, the other is developed by RST company STV robots. STV is a six remote control cars, using radio and cable communications. On board can be raised to a 45-meter bracket, the above three-dimensional with color camera, day-optic sight, night vision sights, binaural audio detectors, chemical detectors, satellite positioning systems, target tracking using The forward-looking infrared sensors. The car takes only one operator, remote control distance of 10 kilometers. During the operation, sent out three sets STV, the operator remote control robot moving to a place 548 meters away from the manor to stop, the car bracket raised the use of video cameras and infrared detectors to the window spying, FBI officials were observed around the screen back to the image sensor, the activities of the house can be seen clearly.6.3 civil robotRobot commandThird, civil robot Robot command In fact, people do not want to the robot is not a complete definition, since the robot from the date of the birth of people will continue to try to explain what a robot in the end. But with the rapid。